煤矿检测机器人机械手动力学及静力学分析

发布时间：2018-05-27 03:24

  本文选题：检测机器人 + 机械手　； 参考：《机械传动》2017年06期

【摘要】：针对煤矿无人区域的实际情况,设计并研制了一种四轮驱动式小空间检测机器人系统,用以井下环境信息和样品的采集。机器人结构主要由机器人本体、移动机构、控制器和机械臂机构等组成。主要介绍机器人的系统组成,并对5自由度机械手进行动力学和静力学分析,验证其结构设计的合理性和实际工作中的承载性能。分析结果表明,机械手各关节力矩的变化稳定且均未超过电机所能提供的极限值;小臂最大变形0.012 397 mm,最大应力15.802 9 MPa均对系统结构影响很小,从而说明5自由度机械手选型准确,结构设计合理,能够满足煤矿实际工作需求。
[Abstract]:According to the actual situation of uninhabited area in coal mine, a four-wheel-drive small space detection robot system is designed and developed, which can be used to collect underground environmental information and sample. Robot structure is mainly composed of robot body, mobile mechanism, controller and manipulator. This paper mainly introduces the system composition of the robot, and analyzes the dynamics and statics of the five-degree-of-freedom manipulator to verify the rationality of its structural design and its bearing capacity in practical work. The results show that the variation of the joint torque of the manipulator is stable and does not exceed the limit value provided by the motor, and the maximum deformation of the forearm is 0.012 mm and the maximum stress of 15.802 9 MPa has little effect on the structure of the system. The result shows that the 5 DOF manipulator is accurate in selection, reasonable in structure design, and can meet the practical requirements of coal mine.
【作者单位】： 安徽农业大学工学院;中国科学院等离子物理研究所;
【基金】：安徽省科技攻关计划项目(1301022075)
【分类号】：TD76;TP242
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本文编号：1940214